Space target-oriented monitoring mission planning method, device, equipment and medium

Abstract

The embodiment of the present application discloses a monitoring task planning method, apparatus, equipment and medium for space targets, which relates to the field of space situational awareness technology. The method includes: determining a preset monitoring period, a group of space targets to be monitored, and a monitoring equipment network; obtaining the visibility results of each monitoring equipment monitoring the space target, and generating a monitoring arc; determining the sub-monitoring task of each monitoring equipment in the sub-period, and respectively determining the benefit parameters of each sub-monitoring task monitoring each space target; taking the maximum value of the sum of the benefit parameters as the objective function, constructing a monitoring task planning model, and planning and determining the monitoring period and monitoring target of each monitoring equipment based on the solution results. The embodiment of the present application can provide data support for the planning scheme of each monitoring equipment in the monitoring equipment network, so as to maximize the monitoring benefit parameters, effectively utilize all monitoring equipment, and improve the monitoring effect of multiple space targets.

Description

Technical Field

[0001] The present application relates to the field of space situational awareness technology, and in particular to a monitoring mission planning method, device, equipment and medium for space targets. Background Art

[0002] Space situational awareness involves identifying and tracking space targets, determining and predicting their orbits, and understanding and assessing the operational environment. These tasks are based on data collected from monitoring space targets. Space targets are numerous and diverse, with space debris and asteroids being the primary potential hazards to human spaceflight. Near-Earth space debris is numerous and moves rapidly, posing a collision risk to in-service spacecraft. Asteroids are numerous and present the potential for severe close approaches to Earth. Therefore, monitoring of these space targets is essential.

[0003] Because different space targets vary in distance, motion, and required observation methods, the ultimate observation requirements, acquired arc segment information, and observation quality also vary. Space monitoring resources for observing space targets are relatively limited, making it difficult to plan and dispatch monitoring resources based on the type, number, and human needs of space targets, and to conduct targeted monitoring. Furthermore, the number of monitoring devices is limited, their locations vary, and their monitoring capabilities vary significantly.

[0004] Therefore, there is currently a lack of a mission planning method that can coordinate limited monitoring equipment to achieve monitoring of space targets (space debris and asteroids), which makes it difficult to maximize the use of limited monitoring resources to efficiently monitor numerous observation targets. Summary of the Invention

[0005] The present application provides a space target-oriented monitoring mission planning method to address the shortcomings of the above-mentioned related technologies. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a space target monitoring mission planning method, comprising:

[0007] Determining a spatial target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the spatial target group;

[0008] Obtaining visibility results of each space target in the space target group monitored by each monitoring device in the monitoring device network during the preset monitoring period, and generating a monitoring arc based on a positional relationship between each monitoring device and each visible space target;

[0009] Determining a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determining a benefit parameter for each sub-monitoring task of monitoring each space target;

[0010] Taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, a monitoring task planning model for the monitoring device network is constructed;

[0011] Planning the monitoring device network based on the solution of the monitoring task planning model, determining the monitoring period of each monitoring device and the monitoring target within the given monitoring period;

[0012] The benefit parameter is determined based on the visibility result, the distribution of each monitoring arc segment, the position of each monitoring device, and the time interval between each monitoring device monitoring each spatial target.

[0013] In an optional solution of the first aspect, if the space target is space debris, determining a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determining a benefit parameter for each sub-monitoring task of monitoring each space target, includes:

[0014] The preset monitoring period is divided into multiple sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i monitoring any space target j is determined. ij ;

[0015] The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0016]

[0017] The corresponding constraints are:

[0018]

[0019] x ij ={0,1};

[0020] Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of space debris, j is the sequence number of the space debris, b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j; otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0021] In an optional solution of the first aspect, if the space target is space debris, obtaining a line-of-sight angle between a previous space debris monitored by the monitoring device and the current space debris, and determining a movement cost of the monitoring device when switching from monitoring the previous space debris to monitoring the current space debris based on the line-of-sight angle;

[0022] The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0023] When c = 0, i = 1;

[0024] Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

[0025] In an optional solution of the first aspect, if the space target is an asteroid, performing a triple mapping on the asteroids in the space target group to obtain an asteroid target group containing three times the total number of asteroids in the space target group, and establishing an objective function based on the triple mapped asteroid target group, including:

[0026] The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any asteroid j in the asteroid target group after the triple mapping is determined. ij ;

[0027] The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0028]

[0029] The corresponding constraints are:

[0030]

[0031] x ij ={0,1};

[0032] Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, b ij is the benefit parameter of sub-monitoring mission i monitoring asteroid j; x ijIndicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring task i is not used to monitor asteroid j; otherwise, sub-monitoring task i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0033] In an optional solution of the first aspect, the weights of the profit parameters are adjusted based on three profit strategies, and the monitoring task planning model is solved based on each profit strategy. The steps of planning the monitoring device network based on the solution results of the monitoring task planning model are performed respectively to determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period.

[0034] The three profit strategies include:

[0035] The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs;

[0036] The second benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weights excluding the start and end periods;

[0037] The third profit strategy is to assign profit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period. The value of the profit parameter weight is equal to the maximum value of the global profit parameter weights except the start and end periods.

[0038] In an optional solution of the first aspect, if the space target is an asteroid, the method further includes:

[0039] Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ;

[0040] The monitoring duration corresponding to each asteroid monitoring arc segment is used as a benefit parameter, and the maximum value of the sum of the benefit parameters of each asteroid monitoring arc segment is used as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0041]

[0042] t gj =Te gj -Ts gj , T gj ={Te gj ,Tsgj};

[0043]

[0044] Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc; Te gj Ts is the end time of the asteroid monitoring arc j of monitoring device g, gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

[0045] In a second aspect, an embodiment of the present application further provides a space target monitoring mission planning device, comprising:

[0046] A monitoring information determination unit, configured to determine a spatial target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the spatial target group;

[0047] a visibility result analysis unit, configured to obtain a visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group during the preset monitoring period, and generate a monitoring arc based on a positional relationship between each monitoring device and each visible space target;

[0048] a benefit parameter determination unit, configured to determine a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter for each sub-monitoring task in monitoring each space target;

[0049] A planning unit, configured to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as an objective function;

[0050] The planning unit is further configured to plan the monitoring device network based on the solution of the monitoring task planning model, and determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period.

[0051] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementations of the first aspect is implemented.

[0052] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0053] The beneficial effects of the technical solutions provided by some embodiments of the present application include at least:

[0054] An embodiment of the present application provides a monitoring task planning method for space targets. By quantitatively evaluating the monitoring effect of a monitoring device network on multiple space targets through the benefit parameters of each monitoring device monitoring each space target, the monitoring of space target groups by space-based monitoring devices and ground-based monitoring devices can be better planned, and targeted monitoring of different space targets can be carried out using the monitoring device network. Data support can be provided for the planning scheme of each monitoring device in the monitoring device network, and the monitoring target of each monitoring device in the monitoring device network in the corresponding time period can be given to maximize the monitoring benefit parameters, effectively utilize all monitoring devices, and improve the monitoring effect of multiple space targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 This is a flow chart of a space target monitoring mission planning method provided by an embodiment of the present application;

[0057] Figure 2 This is a schematic diagram of a monitoring coverage period of a space target-oriented monitoring mission planning method provided in an embodiment of the present application;

[0058] Figure 3 This is a schematic diagram of a monitoring coverage period of a space target-oriented monitoring mission planning method provided in an embodiment of the present application;

[0059] Figure 4 This is a schematic diagram of a monitoring coverage period of a space target-oriented monitoring mission planning method provided in an embodiment of the present application;

[0060] Figure 5 This is a schematic diagram of the structure of a space target monitoring mission planning device provided in an embodiment of the present application;

[0061] Figure 6 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0063] The terms "including" and "having," and any variations thereof, in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0064] It should be noted that the terms "first" and "second" used in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first" and "second" may interchangeably represent a specific order or precedence, where permitted. It should be understood that the objects distinguished by "first" and "second" may interchangeably represent a specific order or precedence, where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that described or illustrated herein.

[0065] The present application is described in detail below with reference to specific embodiments.

[0066] Next, combine Figure 1 , introduces a space target monitoring mission planning method provided by the embodiment of this application. For details, please refer to Figure 1 , Figure 1 FIG1 shows a flow chart of a space target monitoring mission planning method provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0067] S101, determining a space target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the space target group.

[0068] S102, obtaining the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generating a monitoring arc based on the positional relationship between each monitoring device and each visible space target.

[0069] S103, determining a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determining a benefit parameter of each sub-monitoring task for monitoring each space target.

[0070] S104 , taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function, and constructing a monitoring task planning model for the monitoring device network.

[0071] S105 , planning the monitoring device network based on the solution of the monitoring task planning model, and determining the monitoring period of each monitoring device and the monitoring target within the given monitoring period.

[0072] Specifically, in S101, the time period to be planned for monitoring can be selected, that is, the preset monitoring period, and the group of space targets to be monitored can be selected from the corresponding list of space targets (space debris and asteroids). During this process, the orbital motion parameters, brightness (or magnitude), size and other information of each space target can also be collected.

[0073] Specifically, in S101, multiple monitoring devices (including space-based monitoring devices such as satellites, and / or ground-based monitoring devices such as ground-based monitoring stations) can also be selected to form a monitoring device network. At the same time, the spatial geographic information (ground-based stations include geographic location, and space-based stations include spatial position and orbital motion parameters) of each monitoring device, working time range, equipment type (optical, radar, etc.), working mode (tracking, staring or scanning, etc.), observation limit (field of view range and distance threshold or star magnitude), etc. can also be determined. The embodiments of the present application do not limit this.

[0074] For example, taking space debris as an example, a time range of 4 hours from Julian calendar (UTC) 2459280.5 to 2459280.666667 can be selected as the preset monitoring period, 200 optical telescopes can be selected to form a monitoring equipment network, and the various technical parameters of the monitoring equipment are shown in Table 1 below. 7170 pieces of space debris can also be selected as the space target group to be monitored.

[0075] Table 1 Technical parameters of monitoring equipment

[0076]

[0077] For example, if the space target is an asteroid, a time range of 21 days from Julian calendar (UTC) 2460279.5 to 2459300.5 can be selected as the preset monitoring period. The technical parameters of the selected monitoring equipment can refer to the data shown in Table 1. 100 asteroids can be selected as the space target group to be monitored. Specifically, the distribution of the asteroids can be determined by the eccentricity-semi-major axis parameters of the asteroids.

[0078] Specifically, in S102, the visibility results of the monitoring equipment network to the space target can be obtained, and can be calculated through public computing websites and software. If there are no public computing websites and software, the orbit of the space target can be interpolated according to the set step size, and the position relationship between the space target and the monitoring equipment in the same inertial system can be calculated at the same time, and then whether the space target is visible to the monitoring equipment at the corresponding time can be determined based on the monitoring capability of the monitoring equipment, so that the visibility results of the monitoring equipment and each space target can be determined.

[0079] Specifically, for a visible space target, a corresponding monitoring arc is generated according to the positional relationship between each monitoring device and the visible space target.

[0080] Specifically, in S103, different observation sequences can be set for different space targets, and there are different monitoring relationships between space targets and monitoring devices. The benefit parameters for evaluating monitoring effectiveness can be determined based on the visibility results of each monitoring device when monitoring each space target, the distribution of each monitoring arc, the position of each monitoring device, and the time interval between each monitoring device monitoring each space target. The benefit parameters can also take into account the required monitoring data quality, the orbital accuracy of the monitoring results, and the idleness of each monitoring device during the monitoring period.

[0081] It can be understood that the benefit parameter between the invisible space target and the monitoring device is 0; the higher the required monitoring quality and the higher the orbit accuracy, the lower the benefit parameter; the more discrete the distribution of the monitoring arc, that is, each space target can be observed by different monitoring devices in different time periods, and each monitoring device can cover as many space targets as possible within the monitoring period, the higher the corresponding benefit parameter; the shorter the idle period of each monitoring device within the monitoring period, the shorter the monitoring efficiency of the monitoring device is fully utilized, and the higher the corresponding benefit parameter. The acquisition of the benefit parameter is only an example here, and the embodiments of the present application are not limited to this.

[0082] Specifically, in S103, the preset monitoring period can be divided into multiple sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and the benefit parameter b of each sub-monitoring task i monitoring any space target j is determined. ij, further executing step S104, taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function, and constructing a monitoring task planning model for the monitoring equipment network.

[0083] The embodiment of the present application selects one of the following four types of planning schemes for solving different space targets and mission plans, and determines the planning results of each monitoring device in the scheduling monitoring device network monitoring each space target.

[0084] In some embodiments, in S103, if the space target is space debris, i.e., space junk, the preset monitoring period in S101 can be divided into multiple sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and the benefit parameter b of each sub-monitoring task i for monitoring any space debris j is determined. ij , further perform step S104 to determine the objective function as:

[0085]

[0086] The corresponding constraints are:

[0087]

[0088] x ij ={0,1};

[0089] Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of space debris, j is the sequence number of the space debris, b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j; otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0090] Further, execute step S105 to solve the monitoring task planning model of the above embodiment. The above monitoring task planning model is a linear programming model, which can be solved specifically by adopting the improved SAPA (Shortest Augment Path Algorithm, SAPA) algorithm. Specifically, a series of difficulties in the linear programming model such as N≠M, large matrix dimension, and high sparsity can be solved by inserting auxiliary zero rows and columns into the matrix, deleting all zero rows and columns, recording the position of zero data in the matrix and the non-zero value between every two zero data, and performing special mapping, thereby improving the solution speed of the linear programming model.

[0091] Furthermore, based on the solution results, a planning list for each device in the monitoring device network can be obtained, and the monitoring device network is planned according to the planning list obtained from the solution results, and then the monitoring time period of each monitoring device and the monitoring target within the given monitoring time period are determined, that is, the monitoring time period and the corresponding monitoring target of each monitoring device are adjusted according to the planning list. The embodiment of the present application does not limit the form of the solution results.

[0092] In some embodiments, in S103, if the space target is space debris, considering that there is a movement cost when the monitoring device switches from monitoring a previous space target to monitoring a next space target when monitoring different space targets, specifically, the line-of-sight angle between the previous space debris monitored by the monitoring device and the current space debris can be obtained, and the movement cost of the monitoring device when switching from monitoring the previous space debris to monitoring the current space debris can be determined based on the line-of-sight angle, thereby determining the objective function that takes into account the above movement cost:

[0093] When c = 0, i = 1;

[0094] Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

[0095] The above objective function is a nonlinear model that can be calculated using the k-exchange algorithm. It can follow the positive gain criterion and perform local exchanges. The disjointness criterion requires that the new solution after the exchange is not exactly the same as the initial solution, and the sequential exchange criterion requires that each sub-monitoring task contain alternative fragment solutions. Furthermore, special check functions can be used to accelerate convergence and ensure the uniqueness of the match between each sub-monitoring task and the spatial target.

[0096] For example, a random assignment method can be used for each benefit parameter to simulate a large-scale scenario, with 1 minute as the effective minimum monitoring time. The moving cost of the monitoring equipment can be c = 1 per radian. The improved k-exchange algorithm is used to solve the nonlinear model. The calculation results are shown in Table 2.

[0097] Table 2 Results of linear programming and nonlinear programming solutions

[0098]

[0099] As shown in Table 2, when c = 0, the corresponding moving cost is 0, and the total benefit parameter is higher than the total benefit parameter when c = 1 and the moving cost is taken into account.

[0100] The monitoring equipment network is further planned based on the solution result. For details, please refer to the description of S105 and will not be repeated here.

[0101] In some embodiments, in S103, if the space target is an asteroid, considering that asteroids are long-distance space targets relative to space debris and move slowly, the arc segment quality and monitoring requirements involved are different.

[0102] The following requirements may apply when monitoring asteroids, including:

[0103] 1) For the same asteroid, at least four observations are required within 2 hours. When scheduling the monitoring equipment, the four short monitoring arcs within 2 hours can be regarded as a whole, and the specific monitoring strategy of the monitoring equipment for the asteroid within 2 hours is not concerned; (2) The same target needs to be visited three times within 21 days, and then connected into a long monitoring arc, which is considered to complete the effective monitoring of the same asteroid; (3) For the same asteroid, it is hoped that the monitoring equipment can complete three visits to the asteroid within a given coverage time.

[0104] It should be noted that, on the one hand, there is a competitive relationship between the monitoring of different asteroids, and there is no guarantee that every asteroid can be revisited at a long interval. On the other hand, a good layout of monitoring equipment can better avoid poor monitoring arc geometry, making it acceptable to revisit the same asteroid within a short time interval.

[0105] Specifically, taking into account the above requirements for monitoring asteroids, the monitoring coverage time of the asteroid can be determined based on the time difference between the first monitoring of the same asteroid and the last monitoring of the asteroid within a given monitoring period of 21 days. That is, corresponding to the above long monitoring arc, the monitoring coverage time can be used as one of the influencing factors of the benefit parameter. The longer the monitoring coverage time for all asteroids, the higher the corresponding total benefit parameter.

[0106] Specifically, considering the above requirements for monitoring asteroids, a triple mapping can be performed on the asteroids in the space target group to obtain an asteroid target group containing three times the total number of asteroids in the space target group. An objective function is established based on the triple-mapped asteroid target group, including:

[0107] The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any asteroid j in the asteroid target group after the triple mapping is determined. ii ;

[0108] The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0109]

[0110] The corresponding constraints are:

[0111]

[0112] x ij ={0,1};

[0113] Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, b ij is the benefit parameter of sub-monitoring mission i monitoring asteroid j; x ij Indicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring task i is not used to monitor asteroid j; otherwise, sub-monitoring task i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0114] Specifically, when solving the above monitoring task planning model, since the monitoring task planning model is a linear programming model, the improved SAPA algorithm can be directly used to solve the linear model of the global monitoring coverage time, and the monitoring equipment network can be planned based on the solution results of the monitoring task planning model. For details, please refer to the description of S105, which will not be repeated here.

[0115] Specifically, after planning asteroid monitoring in S105, a "three-visit check" can be performed on the planned scheduling results, with successful checks counted towards the global duration distribution and average statistics. Three visits specifically check whether the adjacent 3M-2, 3M-1, and 3M asteroids can be monitored after the monitoring equipment is scheduled within the planned time period. If they can, the three-visit check is considered complete, meaning that the asteroid has been visited three times within the given coverage time.

[0116] Specifically, when solving the above monitoring task planning model, a variety of benefit weighting strategies can be adopted. Specifically, the weights of the benefit parameters can be adjusted based on three benefit strategies, and the monitoring task planning model can be solved based on each benefit strategy. The steps of planning the monitoring device network based on the solution results of the monitoring task planning model are performed respectively to determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period.

[0117] The three profit strategies include:

[0118] The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs;

[0119] The second benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weights excluding the start and end periods;

[0120] The third profit strategy is to assign profit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period. The value of the profit parameter weight is equal to the maximum value of the global profit parameter weights except the start and end periods.

[0121] For example, the above three strategies can be used for simulation. The monitoring results of consecutive, adjacent targets 3M-2, 3M-1, and 3M are counted in the output file. If all three targets are monitored by monitoring equipment, the difference between the first and last monitoring times for the target within a given monitoring period is calculated to obtain the monitoring coverage duration for target M. The monitoring coverage duration of 100 targets in the network is counted and the average value is obtained. The results are shown in Table 3.

[0122] Table 3 Experimental results under three strategies

[0123]

[0124] For example, reference may be made to Figure 2 、 Figure 3 、 Figure 4 The monitoring coverage period distribution diagram is shown in FIG. Figure 2 The experimental results corresponding to strategy 1 are: Figure 3 The experimental results corresponding to strategy 2 are: Figure 4 Experimental results corresponding to strategy 3. Figure 2-4As shown in Table 3, it can be seen that under Strategy 1, since each period is given the same benefit parameter weight, the distribution of monitoring arcs is relatively concentrated in the range of 0-3 days in the 21-day monitoring period, and there is only a small distribution in the range of 18-21 days. In this case, it can be seen that the monitoring coverage time of each target is relatively short; under Strategy 2, the distribution of monitoring arcs is concentrated in the range of 0-3 days and 18-21 days in the 21-day monitoring period, and only a small number of monitoring arcs are distributed in the range of 9-12 days. Under Strategy 3, the distribution of monitoring arcs is also concentrated in the range of 0-3 days and 18-21 days in the 21-day monitoring period, and there is also a small amount of distribution in other periods. It can be seen that the average monitoring coverage time after using Strategy 2 and Strategy 3 is increased by 49.85% and 60.77% respectively compared with Strategy 1, which does not specially consider the benefit parameters of the target observation head and tail arcs. From a numerical point of view, the average monitoring coverage time of Strategy 3 is only 7.29% longer than that of Strategy 2. However, Strategy 3 can enable more monitoring targets to have longer and better monitoring coverage time, and the idle period of monitoring equipment is also less. The distribution of monitoring arcs is more evenly distributed than that of Strategy 2, and each monitoring device can be fully utilized. Therefore, Strategy 3 is preferred for planning the longest global monitoring coverage time.

[0125] In some embodiments, if the space target is an asteroid, considering the asteroid's long distance and slow apparent trajectory, it is necessary to fully utilize the long-term visible monitoring arc information. In other words, it is necessary to determine a planning scheme that maximizes the continuous observation time of the asteroid by the entire monitoring equipment network. Specifically, the scheme includes:

[0126] Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ;

[0127] The monitoring duration corresponding to each asteroid monitoring arc segment is used as a benefit parameter, and the maximum value of the sum of the benefit parameters of each asteroid monitoring arc segment is used as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0128]

[0129] t gj =Te gj -Ts gj , T gj ={Te gj , Ts gj};

[0130]

[0131] Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc; Te gj Ts is the end time of the asteroid monitoring arc j of monitoring device g, gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

[0132] Specifically, a greedy search algorithm can be used to solve the monitoring task planning model for the longest single continuous monitoring duration. When using the greedy search algorithm, each station in the search set is sorted in descending order by observation duration. The longest observation duration is selected for mutual exclusion testing. If the test succeeds, it is added to the planned scheduling set and updated. The mutual exclusion test is then continued for the longest observation information in the search set. This process is repeated until no new observation information is allowed to be added to the planned scheduling set or all time periods in the search set have been mutually exclusive tested.

[0133] Furthermore, the monitoring equipment network can be planned based on the solution results so that the total observation time of each monitoring device for each asteroid is maximized, and the monitoring period of each monitoring device and the monitoring target within a given monitoring period can be determined.

[0134] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0135] See next Figure 5 , which is a schematic diagram of the structure of a space target monitoring mission planning device provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, or can be integrated into a server as an independent module. The monitoring mission planning device 50 in the embodiment of the present application includes a monitoring information determination unit 501, a visibility result analysis unit 502, a benefit parameter determination unit 503, and a planning unit 504, wherein:

[0136] The monitoring information determination unit 501 is used to determine a space target group to be monitored within a preset monitoring period and a monitoring device network for monitoring the space target group;

[0137] The visibility result analysis unit 502 is configured to obtain the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generate a monitoring arc based on the positional relationship between each monitoring device and each visible space target;

[0138] The benefit parameter determination unit 503 is used to determine the sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determine the benefit parameter of each sub-monitoring task for monitoring each space target;

[0139] The planning unit 504 is configured to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function;

[0140] The planning unit 504 is further configured to plan the monitoring device network based on the solution of the monitoring task planning model, and determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period.

[0141] It should be noted that the device 50 provided in the above embodiment, when executing the method for planning a space-target monitoring mission, is merely illustrated by the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the device provided in the above embodiment and the embodiment of the method for planning a space-target monitoring mission are based on the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0142] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method of any of the above embodiments are implemented.

[0143] See Figure 6 , is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0144] like Figure 6 As shown, the electronic device 600 includes a processor 601 and a memory 602 .

[0145] In the embodiment of the present application, the processor 601 is the control center of the computer system and can be the processor of a physical machine or the processor of a virtual machine. The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 can be implemented in the form of at least one hardware selected from the group consisting of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array).

[0146] The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0147] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the method in the embodiment of the present application.

[0148] In some embodiments, the electronic device 600 further includes: a peripheral device interface 603 and at least one peripheral device 604. The processor 601, the memory 602, and the peripheral device interface 603 can be connected via a bus or signal lines. Each peripheral device 604 can be connected to the peripheral device interface 603 via a bus, signal lines, or a circuit board. Specifically, the peripheral devices 604 include: a display screen, a camera, and an audio circuit. The peripheral device interface 603 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 601 and the memory 602.

[0149] In some embodiments of the present application, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 may be implemented on separate chips or circuit boards. This embodiment of the present application is not specifically limited to this.

[0150] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 600. The electronic device 600 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0151] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of the aforementioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A space target-oriented monitoring mission planning method, characterized in that: include: Determining a spatial target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the spatial target group; Obtaining visibility results of each space target in the space target group monitored by each monitoring device in the monitoring device network during the preset monitoring period, and generating a monitoring arc based on a positional relationship between each monitoring device and each visible space target; Determining a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determining a benefit parameter for each sub-monitoring task of monitoring each space target; Taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, a monitoring task planning model for the monitoring device network is constructed; Planning the monitoring device network based on the solution of the monitoring task planning model, determining the monitoring period of each monitoring device and the monitoring target within the given monitoring period; The benefit parameter is determined based on the visibility result, the distribution of each monitoring arc segment, the position of each monitoring device, and the time interval between each monitoring device monitoring each spatial target; If the space target is an asteroid, performing a triple mapping on the asteroids in the space target group to obtain an asteroid target group containing three times the total number of asteroids in the space target group; and establishing an objective function based on the triple mapped asteroid target group, including: The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any asteroid j in the asteroid target group after the triple mapping is determined. ij ; The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: The corresponding constraints are: x ij ＝{0,1}； Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, b ij is the benefit parameter of sub-monitoring mission i monitoring asteroid j; x ij Indicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring mission i is not used to monitor asteroid j; otherwise, sub-monitoring mission i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring missions monitoring a given space target; If the space target is an asteroid, the method further includes: Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ; The monitoring duration corresponding to each asteroid monitoring arc segment is used as a benefit parameter, and the maximum value of the sum of the benefit parameters of each asteroid monitoring arc segment is used as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: t gj =The gj -Ts gj ,T gj ={The gj ,Ts gj }; Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc; Te gj Ts is the end time of the asteroid monitoring arc j of monitoring device g, gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

2. The space target monitoring mission planning method according to claim 1, characterized in that: If the space target is space debris, determining a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determining a benefit parameter for each sub-monitoring task of monitoring each space target, includes: The preset monitoring period is divided into multiple sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i monitoring any space target j is determined. ij ; The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: The corresponding constraints are: x ij ＝{0,1}； Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of space debris, j is the sequence number of the space debris, b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j; otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

3. The space target monitoring mission planning method according to claim 2, characterized in that: If the space target is space debris, obtaining a line-of-sight angle between the last space debris monitored by the monitoring device and the current space debris, and determining a movement cost of the monitoring device when switching from monitoring the last space debris to monitoring the current space debris based on the line-of-sight angle; The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: When c = 0, i = 1; Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

4. The space target monitoring mission planning method according to claim 1, characterized in that: Adjusting the weights of the profit parameters based on the three profit strategies, solving the monitoring task planning model based on each profit strategy, and performing the steps of planning the monitoring device network based on the solution results of the monitoring task planning model to determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period; The three profit strategies include: The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs; The second benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weights excluding the start and end periods; The third profit strategy is to assign profit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period. The value of the profit parameter weight is equal to the maximum value of the global profit parameter weights except the start and end periods.

5. A space target-oriented monitoring mission planning device, characterized in that: include: A monitoring information determination unit, configured to determine a spatial target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the spatial target group; a visibility result analysis unit, configured to obtain a visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group during the preset monitoring period, and generate a monitoring arc based on a positional relationship between each monitoring device and each visible space target; a benefit parameter determination unit, configured to determine a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter for each sub-monitoring task in monitoring each space target; A planning unit, configured to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as an objective function; The planning unit is further configured to plan the monitoring device network based on the solution of the monitoring task planning model, and determine the monitoring period of each monitoring device and the monitoring target within the given monitoring period; If the space target is an asteroid, performing a triple mapping on the asteroids in the space target group to obtain an asteroid target group containing three times the total number of asteroids in the space target group; and establishing an objective function based on the triple mapped asteroid target group, including: The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any asteroid j in the asteroid target group after the triple mapping is determined. ij ; The maximum value of the sum of the benefit parameters of each sub-monitoring task is taken as the objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: The corresponding constraints are: x ij ＝{0,1}； Wherein, N is the total number of sub-monitoring tasks obtained by multiplying the number of sub-periods by the number of monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, b ij is the benefit parameter of sub-monitoring mission i monitoring asteroid j; x ij Indicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring mission i is not used to monitor asteroid j; otherwise, sub-monitoring mission i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring missions monitoring a given space target; If the space target is an asteroid, the device is further configured to: Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ; The monitoring duration corresponding to each asteroid monitoring arc segment is used as a benefit parameter, and the maximum value of the sum of the benefit parameters of each asteroid monitoring arc segment is used as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: t gj =The gj -Ts gj ,T gj ={The gj ,Ts gj }; Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc; Te gj Ts is the end time of the asteroid monitoring arc j of monitoring device g, gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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